78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/**
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* @file testPose3Graph.cpp
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* @authors Frank Dellaert, Viorela Ila
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**/
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#include <iostream>
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#include <iostream>
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#include <boost/shared_ptr.hpp>
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#include <boost/assign/std/list.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "NonlinearOptimizer-inl.h"
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#include "NonlinearEquality.h"
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#include "Ordering.h"
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#include "Pose3Graph.h"
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using namespace std;
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using namespace gtsam;
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// common measurement covariance
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static Matrix covariance = eye(6);
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/* ************************************************************************* */
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// test optimization with 6 poses arranged in a hexagon and a loop closure
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TEST(Pose3Graph, optimizeCircle) {
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// Create a hexagon of poses
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Pose3Config hexagon = pose3Circle(6,1.0,'p');
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Pose3 p0 = hexagon["p0"], p1 = hexagon["p1"];
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// create a Pose graph with one equality constraint and one measurement
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Pose3Graph fg;
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fg.addConstraint("p0", p0);
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Pose3 delta = between(p0,p1);
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fg.add("p0", "p1", delta, covariance);
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fg.add("p1", "p2", delta, covariance);
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fg.add("p2", "p3", delta, covariance);
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fg.add("p3", "p4", delta, covariance);
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fg.add("p4", "p5", delta, covariance);
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fg.add("p5", "p0", delta, covariance);
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// Create initial config
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boost::shared_ptr<Pose3Config> initial(new Pose3Config());
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initial->insert("p0", p0);
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initial->insert("p1", expmap(hexagon["p1"],Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1)));
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initial->insert("p2", expmap(hexagon["p2"],Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1)));
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initial->insert("p3", expmap(hexagon["p3"],Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1)));
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initial->insert("p4", expmap(hexagon["p4"],Vector_(6, 0.1,-0.1, 0.1, 0.1,-0.1, 0.1)));
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initial->insert("p5", expmap(hexagon["p5"],Vector_(6,-0.1, 0.1,-0.1,-0.1, 0.1,-0.1)));
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// Choose an ordering and optimize
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Ordering ordering;
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ordering += "p0","p1","p2","p3","p4","p5";
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typedef NonlinearOptimizer<Pose3Graph, Pose3Config> Optimizer;
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Optimizer optimizer(fg, ordering, initial);
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Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
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// Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
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optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15, verbosity);
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Pose3Config actual = *optimizer.config();
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// Check with ground truth
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CHECK(assert_equal(hexagon, actual,1e-5));
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// Check loop closure
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CHECK(assert_equal(delta,between(actual["p5"],actual["p0"]),1e-5));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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